CN102519446B - Resonant optical gyroscope based on fast-speed high-precision frequency tracking and locking technology - Google Patents
Resonant optical gyroscope based on fast-speed high-precision frequency tracking and locking technology Download PDFInfo
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- CN102519446B CN102519446B CN201110410722.0A CN201110410722A CN102519446B CN 102519446 B CN102519446 B CN 102519446B CN 201110410722 A CN201110410722 A CN 201110410722A CN 102519446 B CN102519446 B CN 102519446B
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Abstract
The invention discloses servo loop feedback control technology in a resonant optical gyroscope. The resonant optical gyroscope comprises an optical system composed of a tunable laser, an optical splitter, three frequency shifters, two modulators, an optical resonant cavity, and a photoelectric conversion module; and a processing circuit composed of a modulation/demodulation module, and three feedback locking modules. The invention relates to control technology where a P (proportion) module forms a fast small-amplitude frequency feedback while an I (integrator) or PI module forms a slow large-amplitude frequency feedback, adopts a high-order integrator I<n> (n is an integer greater than or equal to 2) or PI<n> to track the temperature change caused resonant frequency linear drift problem and suppress low frequency noise, and connects the P, I and I<n> in parallel to form a resonant frequency servo loop, to therefore reduce the resonant frequency drift caused by rapid laser frequency fluctuation and ambient temperature in the loop, and improve frequency locking precision and system frequency response characteristics.
Description
Technical field
The resonance frequency servo loop technology in formula optical gyroscope that the present invention relates to shake, relates in particular to a kind of resonance type optical gyroscope based on quick, high-precision frequency-tracking lock-in techniques.
Background technology
Resonance type optical gyroscope is a kind of high-precision Novel angle speed pickup based on Sagnac effect, its Sensitive Apparatus optics ring resonator can adopt the method for very short optical fiber or integrated optics to realize, thus miniaturization and integrated on there is unique advantage.In resonance type optical gyroscope, by detecting the poor angular speed that obtains of resonator cavity resonance frequency clockwise and counterclockwise light path.Actual optical device is subject to the impact of the environmental factors such as temperature and stress as laser instrument, resonator cavity, can in loop, introduce various reciprocity noises, and the change of the clockwise and counterclockwise resonance frequency that Sagnac effect causes is nonreciprocal, and extremely faint.Therefore, the modulation demodulation system of resonance type optical gyroscope must at least lock the light wave that one of them direction is propagated, utilize frequency servo loop to make the output light frequency of laser instrument all the time in resonant condition, by indirect detection other direction wave travels and laser instrument frequency difference, obtain angular velocity, frequency-tracking lock-in techniques will directly affect the actual accuracy of detection of gyro.
Traditional merely based on ratio (Proportion, P) the resonance frequency servo loop technology of technology, in response speed, there is greater advantage, in theory when P is infinitely great, can eliminate the locking residual error in loop, in actual loop, due to the existence of time delay, when P is greater than certain critical value, will there is vibration in loop.Therefore, after the simple resonance frequency servo loop locking based on P, often there is larger residual error.On ratio basis, add integration (Integrator, I) link, can effectively eliminate locking residual error, but the membership that adds of integral element reduces loop response speed greatly.In addition, when variation of ambient temperature, will cause resonance frequency linear drift, and at this time need high order exponential integral device to follow the tracks of the problems such as the resonance frequency linear drift that temperature variation causes.
Resonance frequency servo loop technology, intend by P module composition fast, frequency feedback by a small margin, I(or PI) module composition slowly, frequency feedback control technology significantly, high order exponential integral device I
n(n is integer, and n>=2) or (PI
n) the resonance frequency linear drift problem that causes for following the tracks of temperature variation, by above-mentioned P, I and I
nformation resonance frequency servo loop in parallel, thus the resonance frequency drift problem that in loop, laser frequency rapid fluctuations and environment temperature etc. cause reduced, both improved frequency locking precision, improve again system frequency response characteristics.
Summary of the invention
Object of the present invention overcomes prior art deficiency, and a kind of resonance type optical gyroscope based on quick, high-precision frequency-tracking lock-in techniques is provided.
Resonance type optical gyroscope based on servo loop closed loop lock-in techniques comprises the optical system consisting of tunable laser, optical splitters, the first frequency shifter, the second frequency shifter, the 3rd frequency shifter, the first modulator, the second modulator, optical resonator, photoelectric conversion module, and the treatment circuit consisting of modulation /demodulation module, proportional integral feedback module, proportional control feedback module and higher order integrals feedback module; Tunable laser, the 3rd frequency shifter, optical splitters, the first frequency shifter, the first modulator, optical resonator, photoelectric conversion module, modulation /demodulation module, proportional control feedback module are connected in turn, proportional control feedback module is connected with the 3rd frequency shifter, laser instrument respectively proportional integral feedback module, higher order integrals feedback module is connected, optical splitters is connected in turn with the second frequency shifter, the second modulator, optical resonator, modulation /demodulation module is connected with proportional integral feedback module, and modulation /demodulation module is connected with higher order integrals feedback module.
A kind of resonance type optical gyroscope based on servo loop closed loop lock-in techniques comprises by tunable laser, optical splitters, the first modulator, the second modulator, the first frequency shifter, the second frequency shifter, the 3rd frequency shifter, optical resonator, the optical system that photoelectric conversion module forms, and by modulation /demodulation module, proportional control feedback module, the treatment circuit that proportional integral feedback module and higher order integrals feedback module form, tunable laser and the 3rd frequency shifter, optical splitters, the first modulator, the first frequency shifter, optical resonator, photoelectric conversion module, modulation /demodulation module, proportional control feedback module is connected in turn, and laser instrument is connected with higher order integrals feedback module with proportional integral feedback module respectively, optical splitters and the second modulator, the second frequency shifter, optical resonator is connected in turn, modulation /demodulation module and proportional control feedback module, the 3rd frequency shifter is connected in turn, modulation /demodulation module and proportional integral feedback module, laser instrument is connected in turn, modulation /demodulation module and higher order integrals feedback module, laser instrument is connected in turn.
A kind of resonance type optical gyroscope based on servo loop closed loop lock-in techniques comprises by tunable laser, the 3rd frequency shifter, modulator, optical splitters, the first frequency shifter, the second frequency shifter, optical resonator, the optical system that photoelectric conversion module forms, and by modulation /demodulation module, proportional control feedback module, the treatment circuit that proportional integral feedback module and higher order integrals feedback module form, tunable laser and modulator, the 3rd frequency shifter, optical splitters, the first frequency shifter, optical resonator, photoelectric conversion module, modulation /demodulation module, proportional control feedback module is connected in turn, proportional control feedback module and the 3rd frequency shifter, optical splitters and the second frequency shifter, optical resonator is connected in turn, modulation /demodulation module and proportional integral feedback module, laser instrument is connected in turn, modulation /demodulation module and higher order integrals feedback module, laser instrument device is connected in turn.
A kind of resonance type optical gyroscope based on servo loop closed loop lock-in techniques comprises by tunable laser, optical splitters, the first modulation frequency shifter, the second modulation frequency shifter, the 3rd frequency shifter, optical resonator, the optical system that photoelectric conversion module forms, and by modulation /demodulation module, proportional control feedback module, the treatment circuit that proportional integral feedback module and higher order integrals feedback module form, tunable laser and the 3rd frequency shifter, optical splitters, the first modulation frequency shifter, optical resonator, photoelectric conversion module, modulation /demodulation module, proportional control feedback module is connected in turn, proportional control feedback module is connected with the 3rd frequency shifter, optical splitters and the second modulation frequency shifter, optical resonator is connected in turn, modulation /demodulation module and proportional integral feedback module, laser instrument is connected in turn, modulation /demodulation module and higher order integrals feedback module, laser instrument is connected in turn.
A kind of resonance type optical gyroscope based on servo loop closed loop lock-in techniques comprises by tunable laser, optical splitters, the first modulation frequency shifter, the second modulation frequency shifter, optical resonator, the optical system that photoelectric conversion module forms, and by modulation /demodulation module, proportional control feedback module, the treatment circuit that proportional integral feedback module and higher order integrals feedback module form, tunable laser and optical splitters, the first modulation frequency shifter, optical resonator, photoelectric conversion module, modulation /demodulation module, proportional control feedback module is connected in turn, proportional control feedback module is connected with tunable laser, optical splitters and the second modulation frequency shifter, optical resonator is connected in turn, modulation /demodulation module and proportional integral feedback module, laser instrument is connected in turn, modulation /demodulation module and higher order integrals feedback module, laser instrument is connected in turn.
Described the first frequency shifter, the second frequency shifter and the 3rd frequency shifter are acousto-optic frequency shifters or optical phase modulator.Described the first modulation frequency shifter, the second modulation frequency shifter and the 3rd frequency shifter are acousto-optic frequency shifters or optical phase modulator.Described optical resonator is optical fibre device or integrated optical device.The structure of described optical resonator is transmission-type optical resonator or reflective optic resonator cavity.
Passing ratio of the present invention (Proportion, P) module composition fast, frequency feedback by a small margin, integration (Integrator, I) technology forms slowly, frequency feedback control technology significantly, high order exponential integral device I
nfor following the tracks of the resonance frequency linear drift problem that temperature variation causes, by above-mentioned P, I and I
nformation resonance frequency servo loop in parallel, thus the resonance frequency drift problem that in loop, laser frequency rapid fluctuations and environment temperature etc. cause reduced, both improved frequency locking precision, improve again system frequency response characteristics.
Accompanying drawing explanation
Fig. 1 is the resonance type optical gyroscope I type structural representation based on servo loop closed loop lock-in techniques;
Fig. 2 is the resonance type optical gyroscope II type structural representation based on servo loop closed loop lock-in techniques;
Fig. 3 is the resonance type optical gyroscope III type structural representation based on servo loop closed loop lock-in techniques;
Fig. 4 is the resonance type optical gyroscope IV type structural representation based on servo loop closed loop lock-in techniques;
Fig. 5 is the resonance type optical gyroscope V-structure schematic diagram based on servo loop closed loop lock-in techniques.
Embodiment
Below in conjunction with embodiment and accompanying drawing, describe the present invention in detail, but the present invention is not limited only to this.
As shown in Figure 1, a kind of resonance type optical gyroscope based on servo loop closed loop lock-in techniques comprises by tunable laser, optical splitters, the first frequency shifter (acousto-optic frequency shifters AOM), the second frequency shifter (acousto-optic frequency shifters AOM), the 3rd frequency shifter (acousto-optic frequency shifters AOM), the first modulator (phase-modulator PM), the second modulator (phase-modulator PM), optical resonator (chip of light waveguide), the optical system that photoelectric conversion module (PD) forms, and by modulation /demodulation module (lock-in amplifier lock-in), proportional integral feedback module (FPGA), the treatment circuit that proportional control feedback module (FPGA) and higher order integrals feedback module (FPGA) form, tunable laser, the 3rd frequency shifter, optical splitters, the first frequency shifter, the first modulator, optical resonator, photoelectric conversion module, modulation /demodulation module, proportional control feedback module are connected in turn, proportional control feedback module is connected with the 3rd frequency shifter, laser instrument respectively proportional integral feedback module, higher order integrals feedback module is connected, optical splitters is connected in turn with the second frequency shifter, the second modulator, optical resonator, modulation /demodulation module is connected with proportional integral feedback module, and modulation /demodulation module is connected with higher order integrals feedback module.
Consider actual laser capacitive load characteristic, fashionable when adding of P link, can be by increasing a phase-modulator at laser output, in order to improve loop response speed.The optical signals optical splitters that tunable laser is sent is divided into two-way, through the optical device such as frequency shifter and modulator laggard enter optical resonator, the suitable counterclockwise two-beam transmitting in optical resonator by the signal with rotation information with the formal output of Optical frequency difference to photoelectric conversion module; The suitable counterclockwise optical signalling that photoelectric conversion module obtains sensitivity is converted to electrical signal, and outputs in the modulation /demodulation module of rear end; Modulation /demodulation module, mainly be divided into modulation and demodulation two parts, modulating part produces the optical signal modulation of modulation signal for optical system modulator, and provide demodulation required synchronizing signal, demodulation part is converted into voltage differential signal by the difference on the frequency signal of photoelectric conversion module output by demodulation, realize the extraction of gyro signal, and output to feedback locking module; Proportional feedback module completes fast, feeds back by a small margin frequency difference signal, and feedback signal is directly inputted laser instrument rear end acousto-optic frequency shifters.By proportional integral and higher order integrals feedback control module, light path system is carried out significantly, slowly fed back, feedback signal directly feeds back to tunable laser, forms loop control and has also followed the tracks of the tuning curve drift that temperature variation causes.By above-mentioned P, I and I
nformation resonance frequency servo loop in parallel, thus resonance frequency drift problem and the low-frequency noise problem that in loop, laser frequency rapid fluctuations and environment temperature etc. cause reduced, both improved frequency locking precision, improve again system frequency response characteristics.
As shown in Figure 2, a kind of resonance type optical gyroscope based on servo loop closed loop lock-in techniques comprises by tunable laser, optical splitters, the first modulator, the second modulator, the first frequency shifter, the second frequency shifter, the 3rd frequency shifter, optical resonator, the optical system that photoelectric conversion module forms, and by modulation /demodulation module, proportional control feedback module, the treatment circuit that proportional integral feedback module and higher order integrals feedback module form, tunable laser and the 3rd frequency shifter, optical splitters, the first modulator, the first frequency shifter, optical resonator, photoelectric conversion module, modulation /demodulation module, proportional control feedback module is connected in turn, and laser instrument is connected with higher order integrals feedback module with proportional integral feedback module respectively, optical splitters and the second modulator, the second frequency shifter, optical resonator is connected in turn, modulation /demodulation module and proportional control feedback module, the 3rd frequency shifter is connected in turn, modulation /demodulation module and proportional integral feedback module, laser instrument is connected in turn, modulation /demodulation module and higher order integrals feedback module, laser instrument is connected in turn.
Signal path and the first implementation method are basically identical, and difference is in shift frequency after laser signal first experiences modulation, at transmission road optical resonator.
As shown in Figure 3, a kind of resonance type optical gyroscope based on servo loop closed loop lock-in techniques comprises by tunable laser, the 3rd frequency shifter, modulator, optical splitters, the first frequency shifter, the second frequency shifter, optical resonator, the optical system that photoelectric conversion module forms, and by modulation /demodulation module, proportional control feedback module, the treatment circuit that proportional integral feedback module and higher order integrals feedback module form, tunable laser and modulator, the 3rd frequency shifter, optical splitters, the first frequency shifter, optical resonator, photoelectric conversion module, modulation /demodulation module, proportional control feedback module is connected in turn, proportional control feedback module and the 3rd frequency shifter, optical splitters and the second frequency shifter, optical resonator is connected in turn, modulation /demodulation module and proportional integral feedback module, laser instrument is connected in turn, modulation /demodulation module and higher order integrals feedback module, laser instrument device is connected in turn.
Signal path and the first implementation method are basically identical, and difference is in first entirety modulation of laser signal, after optical branching device, then distinguishes shift frequency.
As shown in Figure 4, a kind of resonance type optical gyroscope based on servo loop closed loop lock-in techniques comprises by tunable laser, optical splitters, the first modulation frequency shifter, the second modulation frequency shifter, the 3rd frequency shifter, optical resonator, the optical system that photoelectric conversion module forms, and by modulation /demodulation module, proportional control feedback module, the treatment circuit that proportional integral feedback module and higher order integrals feedback module form, tunable laser and the 3rd frequency shifter, optical splitters, the first modulation frequency shifter, optical resonator, photoelectric conversion module, modulation /demodulation module, proportional control feedback module is connected in turn, proportional control feedback module is connected with the 3rd frequency shifter, optical splitters and the second modulation frequency shifter, optical resonator is connected in turn, modulation /demodulation module and proportional integral feedback module, laser instrument is connected in turn, modulation /demodulation module and higher order integrals feedback module, laser instrument is connected in turn.
Signal path and the first implementation method are basically identical, and difference is in first overall shift frequency of laser signal, by shunt, is modulating respectively.
As shown in Figure 5, a kind of resonance type optical gyroscope based on servo loop closed loop lock-in techniques comprises by tunable laser, optical splitters, the first modulation frequency shifter, the second modulation frequency shifter, optical resonator, the optical system that photoelectric conversion module forms, and by modulation /demodulation module, proportional control feedback module, the treatment circuit that proportional integral feedback module and higher order integrals feedback module form, tunable laser and optical splitters, the first modulation frequency shifter, optical resonator, photoelectric conversion module, modulation /demodulation module, proportional control feedback module is connected in turn, proportional control feedback module is connected with tunable laser, optical splitters and the second modulation frequency shifter, optical resonator is connected in turn, modulation /demodulation module and proportional integral feedback module, laser instrument is connected in turn, modulation /demodulation module and higher order integrals feedback module, laser instrument is connected in turn.
Signal path and the first implementation method are basically identical, difference is in ought not needing to consider actual laser capacitive load characteristic, fashionable in adding of proportional feedback link, can directly load proportional control feedback signal in laser end, other signals transmission is consistent with the first implementation method.
Described the first frequency shifter, the second frequency shifter and the 3rd frequency shifter are acousto-optic frequency shifters or optical phase modulator.Described the first modulation frequency shifter, the second modulation frequency shifter and the 3rd frequency shifter are acousto-optic frequency shifters or optical phase modulator.Described optical resonator is optical fibre device or integrated optical device.The structure of described optical resonator is transmission-type optical resonator or reflective optic resonator cavity.
Claims (9)
1. the resonance type optical gyroscope based on servo loop closed loop lock-in techniques, it is characterized in that comprising the optical system being formed by tunable laser, optical splitters, the first frequency shifter, the second frequency shifter, the 3rd frequency shifter, the first modulator, the second modulator, optical resonator, photoelectric conversion module, and the treatment circuit being formed by modulation /demodulation module, proportional integral feedback module, proportional control feedback module and higher order integrals feedback module; Tunable laser, the 3rd frequency shifter, optical splitters, the first frequency shifter, the first modulator, optical resonator, photoelectric conversion module, modulation /demodulation module, proportional control feedback module are connected in turn, proportional control feedback module is connected with the 3rd frequency shifter, laser instrument is connected with proportional integral feedback module, higher order integrals feedback module respectively, optical splitters is connected in turn with the second frequency shifter, the second modulator, optical resonator, modulation /demodulation module is connected with proportional integral feedback module, and modulation /demodulation module is connected with higher order integrals feedback module.
2. the resonance type optical gyroscope based on servo loop closed loop lock-in techniques, is characterized in that comprising by tunable laser, optical splitters, the first modulator, the second modulator, the first frequency shifter, the second frequency shifter, the 3rd frequency shifter, optical resonator, the optical system that photoelectric conversion module forms, and by modulation /demodulation module, proportional control feedback module, the treatment circuit that proportional integral feedback module and higher order integrals feedback module form, tunable laser and the 3rd frequency shifter, optical splitters, the first modulator, the first frequency shifter, optical resonator, photoelectric conversion module, modulation /demodulation module, proportional control feedback module is connected in turn, and laser instrument is connected with higher order integrals feedback module with proportional integral feedback module respectively, optical splitters and the second modulator, the second frequency shifter, optical resonator is connected in turn, modulation /demodulation module and proportional control feedback module, the 3rd frequency shifter is connected in turn, modulation /demodulation module and proportional integral feedback module, laser instrument is connected in turn, modulation /demodulation module and higher order integrals feedback module, laser instrument is connected in turn.
3. the resonance type optical gyroscope based on servo loop closed loop lock-in techniques, it is characterized in that comprising by tunable laser, the 3rd frequency shifter, modulator, optical splitters, the first frequency shifter, the second frequency shifter, optical resonator, the optical system that photoelectric conversion module forms, and by modulation /demodulation module, proportional control feedback module, the treatment circuit that proportional integral feedback module and higher order integrals feedback module form, tunable laser and modulator, the 3rd frequency shifter, optical splitters, the first frequency shifter, optical resonator, photoelectric conversion module, modulation /demodulation module, proportional control feedback module is connected in turn, proportional control feedback module and the 3rd frequency shifter, optical splitters and the second frequency shifter, optical resonator is connected in turn, modulation /demodulation module and proportional integral feedback module, laser instrument is connected in turn, modulation /demodulation module and higher order integrals feedback module, laser instrument is connected in turn.
4. the resonance type optical gyroscope based on servo loop closed loop lock-in techniques, it is characterized in that comprising by tunable laser, optical splitters, the first modulation frequency shifter, the second modulation frequency shifter, the 3rd frequency shifter, optical resonator, the optical system that photoelectric conversion module forms, and by modulation /demodulation module, proportional control feedback module, the treatment circuit that proportional integral feedback module and higher order integrals feedback module form, tunable laser and the 3rd frequency shifter, optical splitters, the first modulation frequency shifter, optical resonator, photoelectric conversion module, modulation /demodulation module, proportional control feedback module is connected in turn, proportional control feedback module is connected with the 3rd frequency shifter, optical splitters and the second modulation frequency shifter, optical resonator is connected in turn, modulation /demodulation module and proportional integral feedback module, laser instrument is connected in turn, modulation /demodulation module and higher order integrals feedback module, laser instrument is connected in turn.
5. the resonance type optical gyroscope based on servo loop closed loop lock-in techniques, it is characterized in that comprising by tunable laser, optical splitters, the first modulation frequency shifter, the second modulation frequency shifter, optical resonator, the optical system that photoelectric conversion module forms, and by modulation /demodulation module, proportional control feedback module, the treatment circuit that proportional integral feedback module and higher order integrals feedback module form, tunable laser and optical splitters, the first modulation frequency shifter, optical resonator, photoelectric conversion module, modulation /demodulation module, proportional control feedback module is connected in turn, proportional control feedback module is connected with tunable laser, optical splitters and the second modulation frequency shifter, optical resonator is connected in turn, modulation /demodulation module and proportional integral feedback module, laser instrument is connected in turn, modulation /demodulation module and higher order integrals feedback module, laser instrument is connected in turn.
6. according to a kind of resonance type optical gyroscope based on servo loop closed loop lock-in techniques described in claim 1,2 or 3, it is characterized in that described the first frequency shifter, the second frequency shifter and the 3rd frequency shifter are acousto-optic frequency shifters or optical phase modulator.
7. a kind of resonance type optical gyroscope based on servo loop closed loop lock-in techniques according to claim 4, is characterized in that described the first modulation frequency shifter, the second modulation frequency shifter and the 3rd frequency shifter are acousto-optic frequency shifters or optical phase modulator.
8. according to a kind of resonance type optical gyroscope based on servo loop closed loop lock-in techniques described in claim 1,2,3,4 or 5, it is characterized in that described optical resonator is optical fibre device or integrated optical device.
9. according to a kind of resonance type optical gyroscope based on servo loop closed loop lock-in techniques described in claim 1,2,3,4 or 5, it is characterized in that the structure of described optical resonator is transmission-type optical resonator or reflective optic resonator cavity.
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| CN101216314A (en) * | 2008-01-14 | 2008-07-09 | 浙江大学 | Resonance type optical gyroscope digital closed loop system frequency feedback and tracking locking apparatus and method |
| CN101614545A (en) * | 2007-10-23 | 2009-12-30 | 浙江大学 | Resonance type optical fiber gyro signal detecting device based on coordinate rotation digital computer algorithm |
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| CN101067556A (en) * | 2007-06-01 | 2007-11-07 | 哈尔滨工程大学 | Four-frequency differential Brillouin optical fiber gyroscope |
| CN101614545A (en) * | 2007-10-23 | 2009-12-30 | 浙江大学 | Resonance type optical fiber gyro signal detecting device based on coordinate rotation digital computer algorithm |
| CN101216314A (en) * | 2008-01-14 | 2008-07-09 | 浙江大学 | Resonance type optical gyroscope digital closed loop system frequency feedback and tracking locking apparatus and method |
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